Model reference adaptive control for robotic manipulators without velocity measurements

Abstract

Abstract This paper presents a non‐linear model reference adaptive controller for robot manipulators. Although the motivating application for this algorithm is in the field of robotics, the algorithm could be applied to non‐linear systems that are feedback‐linearizable. The algorithm developed does not require the measurement nor the estimation of manipulator joint velocities or accelerations. Simulation results verify the performance of the method.